Initial revision

intern/moto/include/MT_Transform.h

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+/**
+ * $Id$
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+/*
+
+  MoTo - 3D Motion Toolkit 
+  Copyright (C) 2000  Gino van den Bergen <gino@acm.org>
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Library General Public
+  License as published by the Free Software Foundation; either
+  version 2 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Library General Public License for more details.
+
+  You should have received a copy of the GNU Library General Public
+  License along with this library; if not, write to the Free
+  Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+
+#ifndef MT_TRANSFORM_H
+#define MT_TRANSFORM_H
+
+#include "MT_Point3.h"
+#include "MT_Matrix3x3.h"
+
+class MT_Transform {
+public:
+    MT_Transform() {}
+    MT_Transform(const float *m) { setValue(m); }
+    MT_Transform(const double *m) { setValue(m); }
+    MT_Transform(const MT_Point3& p, const MT_Quaternion& q) { 
+		setOrigin(p);
+		setRotation(q);
+	}
+
+    MT_Transform(const MT_Point3& p, const MT_Matrix3x3& m) { 
+		setOrigin(p);
+		setBasis(m);
+	}
+
+
+
+    MT_Point3 operator()(const MT_Point3& p) const {
+        return MT_Point3(MT_dot(m_basis[0], p) + m_origin[0], 
+                         MT_dot(m_basis[1], p) + m_origin[1], 
+                         MT_dot(m_basis[2], p) + m_origin[2]);
+    }
+    
+    MT_Point3 operator*(const MT_Point3& p) const {
+        return (*this)(p);
+    }
+    
+    MT_Matrix3x3&         getBasis()          { return m_basis; }
+    const MT_Matrix3x3&   getBasis()    const { return m_basis; }
+    MT_Point3&            getOrigin()         { return m_origin; }
+    const MT_Point3&      getOrigin()   const { return m_origin; }
+    MT_Quaternion         getRotation() const { return m_basis.getRotation(); }
+    
+    void setValue(const float *m);
+    void setValue(const double *m);
+
+    void setOrigin(const MT_Point3& origin) { 
+        m_origin = origin;
+		m_type |= TRANSLATION;
+    }
+
+    void setBasis(const MT_Matrix3x3& basis) { 
+        m_basis = basis;
+		m_type |= LINEAR;
+    }
+
+    void setRotation(const MT_Quaternion& q) {
+        m_basis.setRotation(q);
+		m_type &= ~SCALING;
+		m_type |= ROTATION;
+    }
+    
+    void getValue(float *m) const;
+    void getValue(double *m) const;
+
+    void setIdentity();
+    
+    MT_Transform& operator*=(const MT_Transform& t);
+
+	/**
+	 * Translate the origin of the transform according to the vector.
+	 * @param v The vector to translate over. The vector is specified
+	 *          in the coordinate system of the transform itself.
+	 */
+    void translate(const MT_Vector3& v);
+    void rotate(const MT_Quaternion& q);
+    void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z);
+    
+    void invert(const MT_Transform& t);
+    void mult(const MT_Transform& t1, const MT_Transform& t2);
+    void multInverseLeft(const MT_Transform& t1, const MT_Transform& t2); 
+    
+private:
+    enum { 
+        IDENTITY    = 0x00, 
+        TRANSLATION = 0x01,
+        ROTATION    = 0x02,
+        RIGID       = TRANSLATION | ROTATION,  
+        SCALING     = 0x04,
+        LINEAR      = ROTATION | SCALING,
+        AFFINE      = TRANSLATION | LINEAR
+    };
+    
+    MT_Transform(const MT_Matrix3x3& basis, const MT_Point3& origin,
+                 unsigned int type) {
+        setValue(basis, origin, type);
+    }
+    
+    void setValue(const MT_Matrix3x3& basis, const MT_Point3& origin,
+                  unsigned int type) {
+        m_basis  = basis;
+        m_origin = origin;
+        m_type   = type;
+    }
+    
+    friend MT_Transform operator*(const MT_Transform& t1, const MT_Transform& t2);
+
+    MT_Matrix3x3 m_basis;
+    MT_Point3    m_origin;
+    unsigned int m_type;
+};
+
+inline MT_Transform operator*(const MT_Transform& t1, const MT_Transform& t2) {
+    return MT_Transform(t1.m_basis * t2.m_basis, 
+                        t1(t2.m_origin), 
+                        t1.m_type | t2.m_type);
+}
+
+#endif
+
+
+
+
+